CN107031805A - A kind of pipe robot suitable for liquid environment - Google Patents
A kind of pipe robot suitable for liquid environment Download PDFInfo
- Publication number
- CN107031805A CN107031805A CN201710234668.6A CN201710234668A CN107031805A CN 107031805 A CN107031805 A CN 107031805A CN 201710234668 A CN201710234668 A CN 201710234668A CN 107031805 A CN107031805 A CN 107031805A
- Authority
- CN
- China
- Prior art keywords
- liquid environment
- control
- pipe robot
- support
- housing
- Prior art date
Links
- 239000007788 liquids Substances 0.000 title claims abstract description 24
- 244000171263 Ribes grossularia Species 0.000 claims abstract description 19
- 238000007789 sealing Methods 0.000 claims description 6
- 238000007906 compression Methods 0.000 claims description 3
- 241000143392 Oar Species 0.000 claims description 2
- 239000007787 solids Substances 0.000 claims 1
- 238000004140 cleaning Methods 0.000 abstract description 7
- 238000010586 diagrams Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 206010011376 Crepitations Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000005516 engineering processes Methods 0.000 description 1
- 239000002516 radical scavengers Substances 0.000 description 1
- 239000011257 shell materials Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 239000011901 water Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
Abstract
Description
Technical field
The invention belongs to underwater robot technical field, more particularly to a kind of pipeline machine suitable for liquid environment People.
Background technology
At present, with the fast development of pipeline industry, test problems are highlighted increasingly inside pipeline.Convey the pipeline of liquid Easily there is the problems such as aging, burn into crackle, foreign matter are adhered in inwall.Traditional pipe outside detection measure can not be to the feelings of inside pipe wall Condition makes accurate assessment, and effective cleaning can not be also carried out to inside pipe wall.And current pipe-line maintenance mode is generally maintenance people Member is safeguarded using manual mode.This maintenance mode is difficult the position for being accurately judged to go wrong inside pipeline, not only Working strength is big, and operating efficiency is extremely low, and needs when safeguarding to block a line, so as to seriously hamper the normal work of pipeline Make.Therefore, it is necessary to design one kind in the case of without prejudice to pipeline normal work, inside pipe wall can be detected and scavenger The robot of work.
The content of the invention
In order to solve the above problems, it is an object of the invention to provide a kind of hydraulically full level is straight or degree of crook Inner-walls of duct is detected in smaller conduit and cleaning robot.
In order to achieve the above object, the pipe robot suitable for liquid environment that the present invention is provided includes housing, battery Group, control device, remote control, propeller, support meanss, vision sensor, small-sized machine arm, direct current generator and display； Wherein housing is threadedly coupled by a hollow hemisphere and a band dome and horizontally disposed hollow cylinder and constituted, hollow Cylinder axially inside provided with two pieces of parallel dividing plates, the inner space of hollow cylinder is thus divided into three parts, its Middle bottom placing battery group；Two direct current generators are placed as power set in middle part, and the output shaft of two direct current generators is equal Outwards set；Top, which is placed, carries signal receiving module on control device, and control device；While the top of hollow cylinder A transparent hollow dome is connected with, inside sets the vision sensor that can be rotated by 360 ° in the horizontal plane；Battery pack with it is straight Motor, control device and vision sensor electrical connection are flowed, for being powered for these parts；Two propellers are respectively positioned at housing Front and back end, propeller hub thereon runs through behind the center of hollow hemisphere or dome behind the inside for extending to housing, and each propeller hub End is connected with the output shaft of a direct current generator；The both sides position of hollow cylinder connects a small-sized machine arm respectively；Shell The front and rear position outer portion of body is not cased with a support meanss；Remote control is hand-held by staff, launches mould with signal thereon Block, and with control device wireless connection；Display is set on the ground, with vision sensor wireless connection.
Described support meanss include support ring, many support frames, multiple springs and multiple bearing pulleies；Wherein support ring It is enclosed on hull outside；Support frame is shaft-like, and the rear end interval of many support frames is hinged on the outer circumference surface of support ring；Every branch The rear end of support is connected with one end of a spring, and the spring other end is fixed on the outer circumference surface of support ring；Every support The front end of frame is respectively mounted a bearing pulley.
Many described support frame equidistantly distributeds in support ring, quantity is 4.
Described spring is coil-type compression springs.
It is threadedly coupled between described hollow dome and hollow cylinder and provided with sealing ring.
Sealing ring is additionally provided between described hollow hemisphere and hollow cylinder.
The pipe robot suitable for liquid environment that the present invention is provided has the advantages that：
Inventive pipeline robot is operable with hydraulically full horizontal straight tube road or the less pipeline of degree of crook, pipe Outer staff it can back and forth be walked using remote control control in pipeline, and the image that vision sensor is passed back in pipeline in real time comes The state of inner-walls of duct is checked, and simple cleaning can be completed by small-sized machine arm.In addition, this pipe robot With simple and practical, light structure, the features such as longevity of service,.And the work difficulty of tubular service personnel can be greatly reduced, and Using modularized design, ease of assembly and maintenance can be produced largely.
Brief description of the drawings
Fig. 1 is the pipe robot external structure schematic diagram suitable for liquid environment that the present invention is provided；
Fig. 2 is the pipe robot internal structure schematic diagram suitable for liquid environment that the present invention is provided；
Fig. 3 is support meanss schematic diagram the pipe robot suitable for liquid environment that the present invention is provided；
Fig. 4 is control system composition frame chart the pipe robot suitable for liquid environment that the present invention is provided.
Embodiment
The pipe robot suitable for liquid environment provided below by combination the drawings and specific embodiments the present invention It is described in detail.
As Figure 1-4, the pipe robot suitable for liquid environment that provides of the present invention including housing 1, battery pack 2, Control device 3, remote control 4, propeller 5, support meanss 6, vision sensor 7, small-sized machine arm 8, direct current generator 14 and aobvious Show device 16；Wherein housing 1 is threadedly coupled and structure by a hollow hemisphere and a band dome and horizontally disposed hollow cylinder Into in hollow cylinder axially inside provided with two pieces of parallel dividing plates 9, thus the inner space of hollow cylinder is divided into Three parts, wherein bottom placing battery group 2；Two direct current generators 14 are placed as power set in middle part, and two direct currents The output shaft of machine 14 is outwards set；Top, which is placed, carries signal receiving module on control device 3, and control device 3；Simultaneously A transparent hollow dome 15 is connected with the top of hollow cylinder, inside sets what can be rotated by 360 ° in the horizontal plane to regard Feel sensor 7；Battery pack 2 is electrically connected with direct current generator 14, control device 3 and vision sensor 7, for being supplied for these parts Electricity；Two propellers 5 are located at the front and back end of housing 1 respectively, and propeller hub thereon extends behind the center of hollow hemisphere or dome To the inside of housing 1, and the rear end of each propeller hub is connected with the output shaft of a direct current generator 14；The both sides of hollow cylinder Position connects a small-sized machine arm 8 respectively；The front and rear position outer portion of housing 1 is not cased with a support meanss 6；Remote control 4 is hand-held by staff, thereon with signal emission module, and with the wireless connection of control device 3；Display 16 is arranged on ground On face, with the wireless connection of vision sensor 7.
Described support meanss 6 include support ring 10, many support frames 11, multiple springs 12 and multiple bearing pulleies 13； Wherein support ring 10 is enclosed on outside housing 1；Support frame 11 is shaft-like, and the rear end interval of many support frames 11 is hinged on support ring 10 Outer circumference surface on；The rear end of every support frame 11 is connected with one end of a spring 12, and the other end of spring 12 is fixed on branch On the outer circumference surface of pushing out ring 10；The front end of every support frame 11 is respectively mounted a bearing pulley 13.
Many described support frames 11 equidistantly distributed in support ring 10, quantity is 4.
Described spring 12 is coil-type compression springs.
It is threadedly coupled between described hollow dome 15 and hollow cylinder and provided with sealing ring.
Sealing ring is additionally provided between described hollow hemisphere and hollow cylinder.
The pipe robot application method suitable for liquid environment that now present invention is provided is described below：
The pipe robot suitable for liquid environment that the present invention is provided is mainly used in detecting inner-walls of duct and letter Single cleaning.Before use, robot is positioned in pipeline, because support meanss 6 are provided with spring 12, in the elastic force of spring 12 Under effect, positioned at the front end of support frame 11 bearing pulley 13 can automatic impaction in inner-walls of duct, be achieved in robot with pipe Road inwall is fitted close, so as to avoid the machine caused by the moment of torsion produced by robot quality itself and direct current generator 14 Device people wild effect in pipeline.Further, since spring 12 has certain deformation quantity, therefore robot is applicable to difference The pipeline of bore.When it is hydraulically full in pipeline or start conveying liquid when, robot is just operable.At this moment outer work people is managed Member can opening remote control device 4, and using remote control 4 by signal emission module to control device 3 send instruct, control device 3 lead to Cross after signal receiving module receives above-mentioned instruction and parsed, then start direct current generator 14, thus drive two spirals Oar 5 is rotated in water, to realize reciprocating motion of the robot in pipeline；Two direct current generators 14 can carry out rotating and tune Rotating speed is saved, robot reciprocal walking at different rates in hydraulically full pipeline is can control；Meanwhile, control visual sensing Device 7 gathered while 360 degree of rotations the image of inner-walls of duct, then gives the image transmitting of collection and sets on the ground Display, robot position in the duct and pipe can be gone out according to the image real-time judge shown on display by managing outer staff The degree of impairment of road inwall, and by control device 3 two small-sized machine arms 8 can be controlled to move, due to small-sized machine arm 8 With three degree of freedom, therefore, it is possible to carry out simple cleaning to inner-walls of duct.If the damage of some inner-walls of duct is compared Seriously, it is impossible to solved by simple cleaning way, the image that the outer staff of pipe can also be passed back by vision sensor 7 is exactly It is determined that there is the position damaged with inner-walls of duct where ging wrong, therefore it can provide strong for the further maintenance of maintainer Help.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710234668.6A CN107031805A (en) | 2017-04-12 | 2017-04-12 | A kind of pipe robot suitable for liquid environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710234668.6A CN107031805A (en) | 2017-04-12 | 2017-04-12 | A kind of pipe robot suitable for liquid environment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107031805A true CN107031805A (en) | 2017-08-11 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710234668.6A CN107031805A (en) | 2017-04-12 | 2017-04-12 | A kind of pipe robot suitable for liquid environment |
Country Status (1)
| Country | Link |
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| CN (1) | CN107031805A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108180362A (en) * | 2018-02-24 | 2018-06-19 | 上海彩虹鱼深海装备科技有限公司 | A kind of fixing device for glass floating ball |
| CN108382547A (en) * | 2018-02-22 | 2018-08-10 | 河海大学常州校区 | A kind of robot for underwater works cleaning |
| CN108543779A (en) * | 2018-05-15 | 2018-09-18 | 繁昌县通民机械制造有限公司 | A kind of pipeline sewage disposal robot |
| CN108730676A (en) * | 2018-03-23 | 2018-11-02 | 昆明理工大学 | A kind of ball shape robot for pipe detection |
| CN108971152A (en) * | 2018-07-21 | 2018-12-11 | 中国海洋石油集团有限公司 | A kind of mechanical tube cleaner |
| CN109945924A (en) * | 2019-03-26 | 2019-06-28 | 焦作大学 | A kind of adjustable spherical housing construction of pipe robot |
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| CN203571334U (en) * | 2013-11-11 | 2014-04-30 | 江苏师范大学 | Pipeline inspection robot propelling mechanism with obstacle removing function |
| CN103968187A (en) * | 2014-04-04 | 2014-08-06 | 中国石油大学(华东) | Minitype pipeline robot |
| CN104613275A (en) * | 2015-02-13 | 2015-05-13 | 山东省水利科学研究院 | Pipeline underwater robot detection device |
| CN204381025U (en) * | 2015-01-09 | 2015-06-10 | 李艳 | Long distance pipeline inwall apparatus for eliminating sludge |
| CN204901203U (en) * | 2015-08-31 | 2015-12-23 | 浙江树人大学 | Water supply line inner wall sniffing robot |
| CN205253670U (en) * | 2015-12-10 | 2016-05-25 | 中国科学院沈阳自动化研究所 | Self -propelled pipeline cleaning equipment of remote control |
| CN106513390A (en) * | 2016-12-20 | 2017-03-22 | 鞍钢贝克吉利尼水处理有限公司 | Pipeline cleaning method and adopted remote control rotary cleaning type pipeline cleaning robot |
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2017
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Patent Citations (7)
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| CN203571334U (en) * | 2013-11-11 | 2014-04-30 | 江苏师范大学 | Pipeline inspection robot propelling mechanism with obstacle removing function |
| CN103968187A (en) * | 2014-04-04 | 2014-08-06 | 中国石油大学(华东) | Minitype pipeline robot |
| CN204381025U (en) * | 2015-01-09 | 2015-06-10 | 李艳 | Long distance pipeline inwall apparatus for eliminating sludge |
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| CN205253670U (en) * | 2015-12-10 | 2016-05-25 | 中国科学院沈阳自动化研究所 | Self -propelled pipeline cleaning equipment of remote control |
| CN106513390A (en) * | 2016-12-20 | 2017-03-22 | 鞍钢贝克吉利尼水处理有限公司 | Pipeline cleaning method and adopted remote control rotary cleaning type pipeline cleaning robot |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108382547A (en) * | 2018-02-22 | 2018-08-10 | 河海大学常州校区 | A kind of robot for underwater works cleaning |
| CN108180362A (en) * | 2018-02-24 | 2018-06-19 | 上海彩虹鱼深海装备科技有限公司 | A kind of fixing device for glass floating ball |
| CN108730676A (en) * | 2018-03-23 | 2018-11-02 | 昆明理工大学 | A kind of ball shape robot for pipe detection |
| CN108543779A (en) * | 2018-05-15 | 2018-09-18 | 繁昌县通民机械制造有限公司 | A kind of pipeline sewage disposal robot |
| CN108971152A (en) * | 2018-07-21 | 2018-12-11 | 中国海洋石油集团有限公司 | A kind of mechanical tube cleaner |
| CN109945924A (en) * | 2019-03-26 | 2019-06-28 | 焦作大学 | A kind of adjustable spherical housing construction of pipe robot |
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Application publication date: 20170811 |